Basic Characteristics RAPID

GlueC Gluing with circular motion
Example 1
Pre-actions
GlueC (GlueCircular) is used in gluing to control the motion, gun opening and the
gluing process. GlueC moves the TCP on a circular path to the end position.
GlueL \On, p1, v250, ggun1 \F1:=100 \F2:=80, z30, tool7;
GlueC p2, p3, v250, ggun1 \F1:=90 \F2:=70, z30, tool7;
GlueL \Off, p4, v250, ggun1, z30, tool7;
1. The TCP for tool7 is moved on a linear path to the position p1 with the speed
given in v250. Due to the \On argument the gun opens and the glue flow is started
according to the data given in ggundata ggun1 in advance on its way to p1. The
glue flow is started with the percentage values given by the \F1:=100 and
\F2:=80 parameters.
2. The TCP is then moved from p1 towards p3 with the flow values given by the
preceding glue instruction. Before p3 is reached, the flow values are changed to
90% and 70% respectively. The time when that is performed is specified in
ggun1.
3. The TCP is then moved from p3 towards p4 with the flow values given by the
preceding glue instruction. Due to the \Off argument the outputs will be reset
according to the times given in ggun1 before p3 is reached.
xxxxxxxx
MoveJ
p1
S1
GlueL\On
Figure 1 Glue example 1
p2
Direction of movement
xxxxxx
GlueC
GlueL
Movement without gluing
Pre-actions
Gluing with pre-actions at
end of gluing
S1: Flow1=100, Flow2=80, i.e. the glue values given by the first instruction are
active.
S2: Flow1=90, Flow2=70, i.e. the glue values given by the second instruction are
active.
RAPID Reference Manual 15-GlueC-1
p3
S2
p4